Object Grasping of Humanoid Robot Based on YOLO

This paper presents a system that aims to achieve autonomous grasping for micro-controller based humanoid robots such as the Inmoov robot [1]. The system consists of a visual sensor, a central controller and a manipulator. We modify the open sourced objection detection software YOLO (You Only Look Once) v2 [2] and associate it with the visual sensor to make the sensor be able to detect not only the category of the target object but also the location with the help of a depth camera. We also estimate the dimensions (i.e., the height and width) of the target based on the bounding box technique (Fig. 1). After that, we send the information to the central controller (a humanoid robot), which controls the manipulator (customised robotic hand) to grasp the object with the help of inverse kinematics theory. We conduct experiments to test our method with the Inmoov robot. The experiments show that our method is capable of detecting the object and driving the robotic hands to grasp the target object.


Published in:
Advances In Computer Graphics, Cgi 2019, 11542, 476-482
Presented at:
36th Computer Graphics International Conference (CGI), Calgary, CANADA, Jun 17-20, 2019
Year:
Jan 01 2019
Publisher:
Cham, SPRINGER INTERNATIONAL PUBLISHING AG
ISSN:
0302-9743
1611-3349
ISBN:
978-3-030-22514-8
978-3-030-22513-1
Keywords:




 Record created 2019-11-24, last modified 2019-12-05


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